JP2021060910A - Terminal device, system, passage number measurement method, and computer program - Google Patents

Abstract

To provide a terminal device, a system, a passage number measurement method, and a computer program capable of improving measurement accuracy for one or both of the number of dynamic bodies and the moving direction.SOLUTION: A terminal device 1 includes: a distance sensor section 12 for measuring a distance; an arithmetic section 13 that extracts one or more blocks including a plurality of measurement results on the basis of measurement time from a measurement result group including the plurality of measurement results obtained by measuring by the distance sensor section 12, and approximating the plurality of measurement results included in each of the extracted one or more blocks; and an estimation section 14 that derives one or both of the number of dynamic bodies measured by the distance sensor section 12 and a moving direction on the basis of an approximation result of the plurality of measurement results included in each of the one or more blocks by the arithmetic section 13.SELECTED DRAWING: Figure 1

Description

The present invention relates to terminal devices, systems, pass count measuring methods, and computer programs.

A technique for estimating the number of passing people is known (see, for example, Patent Document 1). In this technology, the number of passing people is estimated by converting the acoustic information collected by the microphone installed near the passage into signal strength (power) and comparing it with the acoustic data recorded in the past.

Japanese Unexamined Patent Publication No. 2012-181631

In the above-mentioned technology, the number of people passing by is measured from the footsteps of passers-by based on the acoustic information collected by the microphone installed near the passage. Therefore, when the microphone is installed on an unpaved road such as an outdoor mountain trail. , Environmental noise such as rain sound may be collected as noise. When environmental noise is collected as noise, it may not be possible to accurately measure the number of people passing by a moving object.
The present invention has been made in consideration of such circumstances, and an object of the present invention is a terminal device, a system, or a passing number measurement capable of improving the measurement accuracy of either one or both of the number of moving objects and the moving direction. To provide methods and computer programs.

(1) One aspect of the present invention is a plurality of measurement result groups including a distance sensor unit for measuring a distance and a plurality of measurement results obtained by the measurement by the distance sensor unit, based on a measurement time. One or a plurality of blocks containing measurement results are extracted, and a calculation unit that approximates a plurality of measurement results included in each of the extracted one or a plurality of blocks and one or a plurality of the blocks by the calculation unit are included. It is a terminal device including an estimation unit that derives one or both of the number of moving objects measured by the distance sensor unit and one or both of the moving directions based on the approximate results of a plurality of measurement results.
(2) In one aspect of the present invention, in the terminal device according to (1) above, the calculation unit removes the measurement result including an error from the plurality of measurement results, and removes the measurement result including an error. From the remaining measurement result group, one or a plurality of blocks containing a plurality of measurement results are extracted based on the measurement time.
(3) One aspect of the present invention is the terminal device according to the above (1) or (2), wherein the calculation unit has a number of moving objects based on the length of each of the one or a plurality of the blocks. , Determine if there is more than one.
(4) One aspect of the present invention is the terminal device according to any one of the above (1) to (3), wherein the calculation unit includes a plurality of the above blocks included in each of the one or a plurality of the blocks. An approximate expression is derived based on the time series of the measurement results, and the estimation unit is either the number of the moving objects or the moving direction of the moving objects based on the inclination of the approximate expression derived by the calculation unit. Derivate one or both.
(5) One aspect of the present invention is the terminal device according to (4) above, wherein the calculation unit is continuous based on a time series of a plurality of the measurement results included in each of the one or a plurality of the blocks. The difference between the two measurement results is derived, the statistical value is derived from the derived differences, and one of the plurality of measurement results is deleted based on the difference and the statistical value. An approximate expression is derived based on the time series of the plurality of measurement results contained in each of the plurality of said blocks obtained by deleting any one of the plurality of the measurement results.

(6) One aspect of the present invention is a plurality of measurement result groups including a distance sensor unit for measuring a distance and a plurality of measurement results obtained by the measurement by the distance sensor unit, based on a measurement time. One or a plurality of blocks containing measurement results are extracted, and a calculation unit that approximates a plurality of measurement results included in each of the extracted one or a plurality of blocks and one or a plurality of the blocks by the calculation unit are included. It is a system including an estimation unit that derives one or both of the number of moving objects measured by the distance sensor unit and the movement direction based on the approximation results of a plurality of measurement results.

(7) One aspect of the present invention is a measurement method executed by a terminal device including a distance sensor unit for measuring a distance, and is a measurement result including a plurality of measurement results obtained by the measurement by the distance sensor unit. A step of extracting one or more blocks containing a plurality of measurement results from the group based on the measurement time and approximating a plurality of measurement results contained in each of the extracted one or a plurality of blocks, and a step of approximating the above. It has a step of deriving one or both of the number of moving objects measured by the distance sensor unit and the moving direction based on the approximate result of a plurality of measurement results included in each of the one or a plurality of the blocks. This is a method for measuring the number of passes.

(8) One aspect of the present invention is to provide a computer with a block containing a plurality of measurement results based on a measurement time from a measurement result group including a plurality of measurement results obtained by measurement by a distance sensor unit. Alternatively, a plurality of samples are extracted, and a step of approximating a plurality of measurement results included in each of the extracted one or a plurality of blocks and an approximation result of a plurality of measurement results included in each of the one or a plurality of the blocks by the approximating step. Is a computer program that executes a step of deriving one or both of the number of moving objects measured by the distance sensor unit and the moving direction based on the above.

According to the present invention, it is possible to provide a terminal device, a system, a passing number measuring method, and a computer program capable of improving the measurement accuracy of either one or both of the number of moving objects and the moving direction.

It is a block diagram which shows the terminal apparatus included in the passing number measurement system which concerns on embodiment of this invention. It is a figure which shows an example of the passer-by count information. It is a figure for demonstrating an example of a block determination. It is a figure for demonstrating the process of getting the division record from a valid block. It is a figure which shows an example of the operation of the terminal apparatus which concerns on this embodiment. It is a block diagram which shows the passing number measurement system which concerns on the modification of embodiment of this invention. It is a figure which shows an example of the passer-related information. It is a figure which shows an example of the terminal information. It is a figure which shows an example of setting information. It is a figure which shows an example of the operation of the passing number measurement system which concerns on the modification of embodiment. It is a figure for demonstrating the application example of the passing number measurement system which concerns on the modification of embodiment. It is a figure which shows the example 1 of the distance value acquired by the terminal apparatus which concerns on the modification of embodiment. It is a figure which shows the example 1 of the processing of the terminal apparatus which concerns on the modification of embodiment. It is a figure which shows the example 2 of the processing of the terminal apparatus which concerns on the modification of embodiment. It is a figure which shows the example 2 of the distance value acquired by the terminal apparatus which concerns on the modification of embodiment. It is a figure which shows the example 3 of the processing of the terminal apparatus which concerns on the modification of embodiment. It is a figure which shows the example 4 of the processing of the terminal apparatus which concerns on the modification of embodiment. It is a figure which shows the example 5 of the processing of the terminal apparatus which concerns on the modification of embodiment. It is a figure which shows the example 3 of the distance value acquired by the terminal apparatus which concerns on the modification of embodiment. It is a figure which shows the example 6 of the processing of the terminal apparatus which concerns on the modification of embodiment. It is a figure which shows the example 7 of the processing of the terminal apparatus which concerns on the modification of embodiment.

Next, the terminal device, the system, the passing number measuring method, and the computer program of the present embodiment will be described with reference to the drawings. The embodiments described below are merely examples, and the embodiments to which the present invention is applied are not limited to the following embodiments.
In all the drawings for explaining the embodiment, the same reference numerals are used for those having the same function, and the repeated description will be omitted.
Further, "based on XX" in the present application means "based on at least XX", and includes a case where it is based on another element in addition to XX. Further, "based on XX" is not limited to the case where XX is used directly, but also includes the case where XX is calculated or processed. "XX" is an arbitrary element (for example, arbitrary information).

(Embodiment)
(Terminal device)
The passing number measurement system 100 according to the embodiment of the present invention includes a terminal device 1.
FIG. 1 is a block diagram showing a terminal device included in the passing number measuring system according to the embodiment of the present invention. The terminal device 1 according to the embodiment derives the number of objects that have passed the measurement range and the moving direction of the objects.
The terminal device 1 is realized as a smartphone, a mobile terminal, a personal computer, a tablet terminal device, a wristwatch type terminal device, or other information processing device. The terminal device 1 includes, for example, a moving object detection unit 10, a processing unit 11, a distance sensor unit 12, a calculation unit 13, an estimation unit 14, and a storage unit 15.
The moving object detection unit 10 detects the presence of a moving object (hereinafter referred to as “moving object”). For example, the moving object detection unit 10 is configured to include an imaging device, and detects an object when a moving object exists in the vicinity of the terminal device 1. The moving body includes a passerby in a region that can be detected by the moving body detecting unit 10. When the moving object is detected, the moving object detecting unit 10 outputs a moving object detection notification, which is a signal for notifying the processing unit 11 that the moving object has been detected.
The distance sensor unit 12 measures the distance and outputs the distance value, which is the measurement result of the distance, to the processing unit 11. For example, the distance sensor unit 12 measures the distance between the moving object and the terminal device 1.

The storage unit 15 is realized by an HDD (Hard Disk Drive), a flash memory, a RAM (Random Access Memory), a ROM (Read Only Memory), or the like. Passer count information 15a and setting information 15c are stored in the storage unit 15. Passer count information 15a and setting information 15c may be stored in the cloud.
The passerby count information 15a is table-type information in which the measurement result and the measurement date / time information are associated with each other. The measurement result includes information indicating the number of passersby and information indicating the moving direction. The information indicating the moving direction may be represented by a direction approaching the terminal device 1 and a direction moving away from the terminal device 1.
FIG. 2 is a diagram showing an example of passerby count information. As an example of the passerby count information 15a, as a measurement result, the number of passersby "***", the moving direction "***", and the measurement date and time information "***** / *** / *** / *" *: ** "is associated with. Further, in an example of the passerby count information 15a, as a measurement result, the number of passersby "++++" and the movement direction "++++" are associated with the measurement date and time information "++++++++ /++++: ++". ing. The explanation will be continued by returning to FIG.
The setting information 15c is table-type information in which the aggregated time interval, the distance threshold value, the effective block threshold value, the invalid value threshold value, the block length threshold value, and the effective slope threshold value are associated with each other. The totaling time interval is a time interval for totaling the number of passers-by and the moving direction. The distance threshold value, the effective block threshold value, the invalid value threshold value, the block length threshold value, and the effective slope threshold value will be described later. Here, the total time may be stored in the setting information 15c instead of the total time interval or together with the total time interval. The totaling time is the time for totaling the number of passers-by and the moving direction. Further, the distance sensor unit 12 mounted on the terminal device 1 may store the time interval information for measuring the distance in the setting information 15c, or the passer count information 15a of the storage unit 15 of the terminal device 1 may store the information. Information indicating the retention period of the information and / or the number of information may be stored. The information stored in the setting information 15c is registered when the passing number measuring system 100 is used.

The processing unit 11, the arithmetic unit 13, and the estimation unit 14 are realized by, for example, a hardware processor such as a CPU (Central Processing Unit) executing a program (software) stored in the storage unit 15. In addition, some or all of these functional units are hardware (circuits) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and GPU (Graphics Processing Unit). It may be realized by the part (including circuitry), or it may be realized by the cooperation of software and hardware. The program may be stored in advance in a storage device such as an HDD (Hard Disk Drive) or a flash memory, or is stored in a removable storage medium such as a DVD or a CD-ROM, and the storage medium is stored in the drive device. It may be installed by being attached.
The processing unit 11 controls and manages the overall operation of the terminal device 1. The processing unit 11 acquires the moving object detection notification output by the moving object detecting unit 10, and activates the distance sensor unit 12 based on the acquired moving object detection notification. The processing unit 11 causes the activated distance sensor unit 12 to start measuring the distance. The processing unit 11 acquires the distance value output by the distance sensor unit 12, and outputs the acquired distance value to the calculation unit 13.

The calculation unit 13 acquires the distance value output by the processing unit 11. The calculation unit 13 includes a distance value determined to be a distance value to a passerby by using a block extraction algorithm from a measurement result including a time-series distance value which is time-series data of the acquired distance value. Extract the data group of the measurement result. The calculation unit 13 removes a distance value including an error such as the influence of noise by the distance sensor unit 12 from the extracted measurement result. The details of the block extraction algorithm will be described later.
The calculation unit 13 uses a passer-by grouping algorithm to block the time-series distance value from the change in the time-series distance value obtained by removing the distance value including an error such as the influence of noise. Do. The details of the passer-by grouping algorithm will be described later. The calculation unit 13 outputs the result of blocking the distance value in time series to the estimation unit 14.

The estimation unit 14 acquires the result of blocking the time-series distance value output by the calculation unit 13, and based on the result of blocking the acquired time-series distance value, the passerby Estimate the number of people.
When the estimation result of the number of passersby is one or less, the estimation unit 14 derives the slope of the time-series distance value based on the result of blocking the time-series distance value. .. For example, the estimation unit 14 derives the slope of the distance value in time series by an approximation method such as the least squares method. The estimation unit 14 derives the moving direction of the passerby based on the slope of the derived approximate expression. The estimation unit 14 outputs the information indicating the count value of the passerby and the information indicating the moving direction of the passerby to the processing unit 11.
When the estimation result of the number of passersby is more than two, the estimation unit 14 blocks the time-series distance value based on the result of blocking the time-series distance value. The result is divided into a plurality of divided records. The estimation unit 14 removes outliers from a group of records which are a plurality of measured values included in each of the plurality of divided records. The estimation unit 14 evaluates by deriving an approximate expression from a plurality of records included in the record group by using an approximation method such as the least squares method based on the remaining records from which outliers have been removed. After the evaluation of all the divided records is completed, the estimation unit 14 derives the count value of the passerby and the moving direction of the passerby based on the slope of the derived approximate expression. The estimation unit 14 outputs the information indicating the count value of the passer and the information indicating the moving direction of the passer to the processing unit 11.
The processing unit 11 has a clock function. When the processing unit 11 acquires the information indicating the count value of the passerby output by the estimation unit 14 and the information indicating the moving direction of the passerby, the processing unit 11 acquires the time information. The processing unit 11 stores the acquired time information, the information indicating the count value of the passer, and the information indicating the moving direction of the passer in the passer count information 15a of the storage unit 15.

(Block extraction algorithm)
The details of the block extraction algorithm described above will be described.
In the block extraction algorithm, the effect of noise included in the measurement result from the measurement result (data group) including the time-series distance value which is the time-series data of the distance value output by the distance sensor unit 12 to the calculation unit 13. If a distance value including an error such as is included, the measured value is removed. Distance values that include errors such as the effects of noise are called invalid values, and measured values other than invalid values are called valid values. Here, the valid value may include an outlier.
The block extraction algorithm causes the calculation unit 13 to invalidate a value indicating infinity among a plurality of distance values output by the distance sensor unit 12. For example, the block extraction algorithm causes the calculation unit 13 to invalidate a distance value equal to or greater than the distance threshold value among a plurality of distance values output by the distance sensor unit 12. The distance threshold value is set based on the distance sensor unit 12 and the assumed position of a passerby. The block extraction algorithm causes the calculation unit 13 to remove invalid values from a plurality of distance values. The block extraction algorithm causes the calculation unit 13 to extract one or more records including consecutive valid values from the remaining plurality of distance values from which invalid values have been removed from the plurality of distance values. The block extraction algorithm causes the arithmetic unit 13 to treat one or more records as a block.

This will be described in detail. The calculation unit 13 functions as follows by executing the block extraction algorithm.
(1) The calculation unit 13 extracts one or a plurality of blocks from the data group.
(2) The calculation unit 13 confirms whether or not the number of effective value records included in each of the extracted one or a plurality of blocks is equal to or greater than the preset effective block threshold value. A block in which the number of records of a valid value in the calculation unit 13 is equal to or greater than the valid block threshold is defined as a valid block. The calculation unit 13 considers a block having a valid value record number of less than the valid block threshold value as an invalid block. Here, the effective block threshold value is set in advance based on a value that can be recognized as a data group of passers-by.
FIG. 3 is a diagram for explaining an example of block determination. In FIG. 3, as examples of the data group, data group example 1, data group example 2, data group example 3, and data group example 4 are shown. Here, as an example, a case where the effective block threshold value is set to "5" is shown.

Data group example 1 will be described. The calculation unit 13 extracts one record containing consecutive valid values, and treats the extracted record as a block. The calculation unit 13 counts the number of valid values included in the block, and compares the count result with the valid block threshold value. Here, the number of valid values included in the block is 4, which is less than the valid block threshold value, so that the extracted record is determined to be an invalid block.
Data group example 2 will be described. The calculation unit 13 extracts one record containing consecutive valid values, and treats the extracted record as a block. The calculation unit 13 counts the number of valid values included in the block, and compares the count result with the valid block threshold value. Here, since the number of valid values included in the block is 24, which is equal to or higher than the valid block threshold value, the extracted record is determined to be a valid block.
Data group example 3 will be described. The calculation unit 13 extracts two records containing consecutive valid values, and blocks and handles each of the two extracted records. Here, from the top of FIG. 2, the first block and the second block are used. The calculation unit 13 counts the number of valid values included in the first block, and compares the counted result with the valid block threshold value. Here, the number of effective values included in the first block is 11, which is equal to or greater than the effective block threshold value, so that the first block is determined to be an effective block. The calculation unit 13 counts the number of valid values included in the second block, and compares the counted result with the valid block threshold value. Here, the number of effective values included in the second block is 10, which is equal to or greater than the effective block threshold value, so that the second block is determined to be an effective block.
The calculation unit 13 counts the invalid values between the first block and the second block, and determines whether or not the result of counting the invalid values is equal to or greater than the invalid value threshold value. The invalid value threshold is preset based on the number of invalid values that can be recognized as not a passerby data group. When the invalid value is continuously obtained for the invalid value threshold value or more, the calculation unit 13 determines that it is not due to the passerby. That is, the calculation unit 13 treats the first block and the second block as separate valid blocks when the result of counting the invalid values is equal to or higher than the invalid value threshold value.
If the result of counting the invalid values is less than the invalid value threshold value, the calculation unit 13 determines that the passerby may have passed. When the result of counting the invalid values is less than the invalid value threshold value, the calculation unit 13 sets the first block, the second block, and one or more invalid values between the first block and the second block. Is treated as one valid block. Hereinafter, the case where the invalid value threshold value is set to 5 will be described. In the case of the data group example 3, the number of invalid values between the first block and the second block is three, which is less than the invalid value threshold value. Therefore, the first block, the second block, and the three invalid values are used. Is treated as one valid block.

Data group example 4 will be described. The calculation unit 13 extracts two records containing consecutive valid values, and blocks and handles each of the two extracted records. Here, from the top of FIG. 2, they are referred to as a first block and a second block. The calculation unit 13 counts the number of valid values included in the first block, and compares the counted result with the valid block threshold value. Here, the number of effective values included in the first block is 11, which is equal to or greater than the effective block threshold value. Therefore, the first block is determined to be an effective block. The calculation unit 13 counts the number of valid values included in the second block, and compares the counted result with the valid block threshold value. Here, the number of valid values included in the second block is eight, which is equal to or higher than the valid block threshold value. Therefore, the second block is determined to be a valid block.
The calculation unit 13 counts the invalid values between the first block and the second block, and determines whether or not the result of counting the invalid values is equal to or greater than the invalid value threshold value. The calculation unit 13 treats the first block and the second block as separate valid blocks when the result of counting the invalid values is equal to or higher than the invalid value threshold value. When the result of counting the invalid values is less than the invalid value threshold value, the calculation unit 13 sets the first block, the second block, and one or more invalid values between the first block and the second block. Is treated as one valid block. In the case of the data group string 4, the number of invalid values between the first block and the second block is 5, which is equal to or higher than the invalid value threshold value. Is treated as a separate valid block.

(Passer grouping algorithm)
Next, the details of the passerby grouping algorithm described above will be described.
The passer-by grouping algorithm causes the arithmetic unit 13 to execute the block extraction algorithm to derive the time-series change of the effective value record included in the extracted effective block. The passer-by grouping algorithm causes the estimation unit 14 to estimate the number of passers-by and the moving direction based on the time-series changes of the valid value records derived by the calculation unit 13. The calculation unit 13 and the estimation unit 14 function as follows by executing the passer-by grouping algorithm.
The calculation unit 13 derives the length of the effective block. The length of the effective block may be expressed in time or may be expressed as the sum of the effective value and the invalid value contained in the effective block. Hereinafter, as an example, a case where the length of the effective block is expressed in time will be described. The calculation unit 13 determines whether or not the result of deriving the effective block length is equal to or greater than a preset block length threshold value. When the calculation unit 13 determines that the result of deriving the length of the effective block is less than the block length threshold value, the arithmetic unit 13 determines that the effective block is obtained by passing by one person. When the calculation unit 13 determines that the result of deriving the length of the effective block is equal to or greater than the block length threshold value, the effective block is obtained by passing two or more persons (plurality of persons). Is determined.

Hereinafter, the case where the calculation unit 13 determines that the effective block is obtained by passing by one person and the case where the arithmetic unit 13 determines that the effective block is obtained by passing by a plurality of people will be described separately.
A case where the calculation unit 13 determines that the block is an effective block obtained by passing by one person will be described. In this case, the calculation unit 13 removes outliers from the record group which is a plurality of measured values included in the effective block. Here, the outlier is a value that greatly deviates from other values. An example of the process of removing outliers from the record group will be described. When a plurality of records included in the record group are arranged in the measurement order, record R1, record R2, ..., Record Rn (n is an integer of n> 3) is set in order from one of them. The calculation unit 13 derives the difference value (R (x + 1) -Rx (x is an integer of 1 <x)) between the records in the adjacent order among the records R1, the records R2, ..., The records Rn. .. The arithmetic unit 13 derives statistical values, for example, an average value m and a standard deviation σ from a data group including a plurality of derived difference values (R (x + 1) -Rx). The estimation unit 14 uses m-Xσ <(R (x + 1) -Rx) <m + Xσ (based on the derived difference values (R (x + 1) -Rx), the derived mean value m, and the standard deviation σ. X extracts a difference value (R (x + 1) -Rx) that is outside the range of (arbitrary value specified in advance). When the estimation unit 14 can extract a difference value (R (x + 1) -Rx) that is outside the range of m-Xσ <(R (x + 1) -Rx) <m + Xσ, it sets a record (R (x + 1) -Rx) as an outlier. )) Is deleted from the record group.

The calculation unit 13 approximates the records by deriving an approximate expression using an approximation method such as the least squares method based on the remaining records from which the outliers have been removed from the plurality of records included in the record group. .. The estimation unit 14 derives the moving direction of the passerby based on the slope of the approximate expression derived by the calculation unit 13.
When the inclination of the derived approximate expression is equal to or greater than the first effective inclination threshold value specified in advance, the estimation unit 14 determines that the passerby is moving away from the terminal device 1. When the inclination of the derived approximate expression is less than the second effective inclination threshold value specified in advance, the estimation unit 14 determines that the passerby is moving in the direction approaching the terminal device 1. When the slope of the derived approximate expression is larger than the second effective slope threshold value and less than the first effective slope threshold value, the estimation unit 14 determines that a non-passer has been detected. The first effective inclination threshold and the second effective inclination are the first inclination obtained when the passer moves from the terminal device 1 in the direction in which the passer moves away, and the direction in which the passer approaches the terminal device 1. It is preset based on the second inclination obtained when moving to.
For example, when the first effective slope threshold value specified in advance is 0.2 and the slope of the derived approximate expression is 0.3, the estimation unit 14 indicates the direction in which the passerby moves away from the terminal device 1. Judge that it has moved to. When the second effective slope threshold value specified in advance is -0.2 and the slope of the derived approximate expression is -0.3, the estimation unit 14 indicates the direction in which the passerby approaches the terminal device 1. Judge that it has moved to.
When the slope of the derived approximate formula is larger than the second effective slope threshold value of −0.2 and less than the first effective slope threshold value of 0.2, the estimation unit 14 records the record corresponding to this approximate formula. If it is a group, it is determined that a non-passer has been detected. If it is determined that a non-passer is detected, the estimation unit 14 processes it as no passer.

A case where the calculation unit 13 determines that the block is an effective block obtained by passing by a plurality of people will be described. In this case, the calculation unit 13 divides a group of records, which are a plurality of measured values included in the effective block, into each number of divided records, which is the number of records specified in advance. The calculation unit 13 acquires a plurality of divided records by duplicating the number of duplicate records, which is the number of records specified in advance, and dividing the record group for each number of divided records.
FIG. 4 is a diagram for explaining a process of acquiring a divided record from a valid block. FIG. 4 shows an example in which the effective block contains 20 measured values, the number of divided records is 8, and the number of duplicate records is 2. In the case of this example, the calculation unit 13 divides the effective block into the divided record # 1 by dividing the valid block into two records, which is the number of duplicate records, for every eight records, which is the number of divided records. , Divide into split record # 2 and split record # 3.

The calculation unit 13 removes outliers from a group of records which are a plurality of measured values included in each of the plurality of divided records. An example of the process of removing outliers from the record group will be described. When a plurality of records included in the record group are arranged in the measurement order, record R1, record R2, ..., Record Rn (n is an integer of n> 3) is set in order from one of them. The estimation unit 14 derives the difference value (R (x + 1) -Rx (x is an integer of 1 <x)) between the records in the adjacent order among the records R1, the records R2, ..., The records Rn. .. The arithmetic unit 13 derives statistical values, for example, an average value m and a standard deviation σ from a data group including a plurality of derived difference values (R (x + 1) -Rx).
The calculation unit 13 is based on the derived difference values (R (x + 1) -Rx), the derived mean value m, and the standard deviation σ, and m-Xσ <(R (x + 1) -Rx) <m + Xσ. A difference value (R (x + 1) -Rx) outside the range of (X is an arbitrary value specified in advance) is extracted. When the estimation unit 14 can extract a difference value (R (x + 1) -Rx) that is outside the range of m-Xσ <(R (x + 1) -Rx) <m + Xσ, it sets a record (R (x + 1) -Rx) as an outlier. )) Is deleted from the record group.

The calculation unit 13 derives an approximate expression from a plurality of records included in the record group by using an approximation method such as the least squares method based on the remaining records from which outliers have been removed. The estimation unit 14 derives the moving direction of the passerby based on the slope of the approximate expression derived by the calculation unit 13. When the inclination of the derived approximate expression is equal to or greater than the first effective inclination threshold value specified in advance, the estimation unit 14 determines that the passerby is moving away from the terminal device 1. When the inclination of the derived approximate expression is less than the second effective inclination threshold value specified in advance, the estimation unit 14 determines that the passerby is moving in the direction approaching the terminal device 1. When the slope of the derived approximate formula is larger than the second effective slope threshold value and less than the first effective slope threshold value, the estimation unit 14 is not a passer if the record group corresponds to this approximate formula. Is determined to have been detected. The first effective inclination threshold and the second effective inclination are the first inclination obtained when the passer moves from the terminal device 1 in the direction in which the passer moves away, and the direction in which the passer approaches the terminal device 1. It is preset based on the second inclination obtained when moving to.
Since the number of duplicate records is duplicated when the record group is divided into the number of divided records, it is possible to easily grasp the change in the distance value when a plurality of people pass by when calculating the approximation formula by the least squares method.
For example, when the first effective slope threshold value specified in advance is 0.2 and the slope of the derived approximate expression is 0.3, the estimation unit 14 indicates the direction in which the passerby moves away from the terminal device 1. Judge that it has moved to. When the second effective slope threshold value specified in advance is -0.2 and the slope of the derived approximate expression is -0.3, the estimation unit 14 indicates the direction in which the passerby approaches the terminal device 1. Judge that it has moved to.
When the slope of the derived approximate expression is larger than the second effective slope threshold of −0.2 and less than the first effective slope threshold of 0.2, the estimation unit 14 detects a non-passer. Is determined. If it is determined that a non-passer is detected, the estimation unit 14 processes it as no passer.

Further, the estimation unit 14 counts passers-by based on the slope derived from each of the plurality of divided records. The estimation unit 14 arranges the divided records in the order of measurement, and evaluates them according to the following evaluation rules based on the signs of the slopes derived from each of the two consecutive divided records.
(1) When the sign of the slope derived based on each of the two consecutive divided records is the same, the estimation unit 14 obtains the two divided records by passing by the same person. Judged as a divided block. In this case, the estimation unit 14 counts as if one person has passed.
(2) The estimation unit 14 derives a slope based on each of two consecutive divided records, and among the slopes of each of the two consecutive divided records, the sign of the divided record is positive or negative for the divided record. If the sign is different from the sign of the immediately preceding split record, it is determined that the split record is obtained by the appearance of a passerby different from the immediately preceding split record. In this case, the estimation unit 14 deletes the divided record.
(3) Based on the rule shown in (2), the estimation unit 14 derives the slope sign based on the next divided record consecutive to the deleted divided record, and the inclined unit derived based on the deleted divided record. If it is the same as the sign of, or if the sign of the slope derived based on the split record immediately before the deleted split record is the same as the sign of the slope, it is obtained by the appearance of another passerby. Judge that there is. In this case, the estimation unit 14 counts that the passer has passed. After the evaluation of all the divided records is completed, the estimation unit 14 outputs the information indicating the count value of the passerby, the information indicating the moving direction of the passerby, and the processing unit 11 based on the evaluation result.

(Operation of terminal device)
FIG. 5 is a diagram showing an example of the operation of the terminal device according to the present embodiment. In FIG. 5, the arithmetic unit 13 of the terminal device 1 extracts one or a plurality of valid blocks from the data group by executing the block extraction algorithm, and the arithmetic unit 13 executes the passer grouping algorithm. , The operation after it is determined that the effective block is obtained by passing by a plurality of people is shown. Specifically, FIG. 5 shows a method in which the estimation unit 14 of the terminal device 1 acquires a divided record from an effective block and evaluates the acquired divided record.
(Step S100)
In the terminal device 1, the calculation unit 13 acquires the earliest all-divided records included in the effective block in chronological order, and starts the evaluation from the acquired divided records.
(Step S101)
In the terminal device 1, the calculation unit 13 derives the slope based on the first divided record acquired. The estimation unit 14 evaluates by acquiring the sign of the slope derived by the calculation unit 13.
(Step S102)
In the terminal device 1, the estimation unit 14 validates the divided record acquired first.
(Step S103)
In the terminal device 1, the estimation unit 14 derives the moving direction of the passerby based on the inclination derived by the calculation unit 13 in step S101. In step S101, the estimation unit 14 counts up the passers-by based on the sign of the slope derived by the calculation unit 13.
(Step S104)
In the terminal device 1, the calculation unit 13 determines whether or not the next division record exists.
(Step S105)
In the terminal device 1, the calculation unit 13 acquires the next division record when it is determined in step S104 that the next division record exists. Here, the next split record will be replaced with a split record for description. The calculation unit 13 derives the slope based on the acquired division record. The estimation unit 14 evaluates by acquiring the sign of the slope derived by the calculation unit 13.

(Step S106)
In the terminal device 1, the estimation unit 14 confirms whether or not the division record immediately before the division record acquired by the calculation unit 13 is processed as valid.
(Step S107)
In the terminal device 1, when the division record immediately before the division record is processed as valid, the estimation unit 14 has the inclination code of the division record immediately before being processed as valid and the inclination code of the division record. To determine if is the same.
(Step S108)
In the terminal device 1, when the estimation unit 14 determines that the sign of the inclination of the immediately preceding divided record and the sign of the inclination of the divided record are the same, the estimation unit 14 processes the divided record as a valid record.
(Step S109)
In the terminal device 1, the estimation unit 14 determines that the divided record is a record that measures the same passer as the immediately preceding divided record that is being processed as valid. The estimation unit 14 does not perform the count-up process. The process proceeds to step S104.

(Step S110)
In the terminal device 1, when the estimation unit 14 determines in step S107 that the sign of the inclination of the immediately preceding divided record and the sign of the inclination of the divided record are different, the estimation unit 14 deletes the divided record to make it an invalid record. To process. By treating the split record as an invalid record, it becomes impossible to refer to it when evaluating other split records. The process proceeds to step S104.
(Step S111)
In the terminal device 1, when the estimation unit 14 determines in step S106 that the division record immediately before the division record is not processed as valid, the inclination code of the immediately preceding division record and the inclination code of the division record are used. To determine if is the same. If it is determined that the sign of the slope of the immediately preceding divided record and the sign of the slope of the divided record are the same, the process proceeds to step S102.
(Step S112)
In the terminal device 1, when the estimation unit 14 determines that the inclination sign of the immediately preceding divided record and the inclination code of the divided record are not the same, the inclination code of the divided record finally determined to be a valid block. And whether or not the sign of the slope of the divided record is the same. When it is determined that the sign of the slope of the divided record finally determined to be the valid block and the sign of the slope of the divided record are the same, the process proceeds to step S102. If it is determined that the sign of the slope of the divided record finally determined to be the valid block and the sign of the slope of the divided record are not the same, the process proceeds to step S110.
(Step S113)
In the terminal device 1, the calculation unit 13 determines in step S104 that the evaluation of all the divided records has been completed when the next divided record does not exist, and ends the evaluation of the divided records.

In the above-described embodiment, the case where the terminal device 1 includes one distance sensor unit 12 has been described, but the present invention is not limited to this example. For example, the terminal device 1 may include a plurality of distance sensor units.
In the above-described embodiment, the case where the moving direction of the passerby is determined based on the first effective inclination threshold value and the second effective inclination threshold value has been described, but the present invention is not limited to this example. For example, the moving direction of the passerby may be determined based on one effective tilt threshold value, or the moving direction of the passerby may be determined based on three or more effective tilt threshold values.
In the above-described embodiment, the number of duplicate records may be changed based on external factors such as noise and the number of passersby. By increasing the number of duplicate records, even if the measured value changes suddenly, the change can be followed. Noise immunity can be improved by reducing the number of duplicate records.
According to the terminal device 1 according to the present embodiment, the terminal device 1 includes one or a plurality of distance sensor units and a plurality of measurement results obtained by each measurement of the one or a plurality of distance sensor units. A calculation unit that extracts one or more blocks containing a plurality of measurement results from the result group based on the measurement time and approximates a plurality of measurement results included in each of the extracted one or a plurality of blocks, and a calculation unit. It is provided with an estimation unit that derives one or both of the number of moving objects measured by the distance sensor unit and the movement direction based on the approximation result of a plurality of measurement results included in each of the one or a plurality of blocks. .. With this configuration, the terminal device 1 continuously measures the distance between the terminal device 1 and the passerby. The terminal device 1 can analyze the measurement result of the distance by the block extraction algorithm and the passerby grouping algorithm. Based on the approximate result of the plurality of measurement results included in each of the one or a plurality of blocks, one or both of the number of moving objects measured by each of the one or a plurality of distance sensor units and the moving direction are derived. Thereby, the measurement accuracy of either one or both of the number of moving objects and the moving direction can be improved.

(Modified example of the embodiment)
(Terminal device)
FIG. 6 is a block diagram showing a passing number measurement system according to a modified example of the embodiment of the present invention. The pass number measurement system 100a according to the modified example of the embodiment includes a terminal device 1a and a server 2. In FIG. 6, in addition to the terminal device 1a and the server 2, the user U for acquiring the measurement result and the terminal device 1b used by the user U are shown.
The terminal device 1a, the terminal device 1b, and the server 2 communicate with each other via the network NW. The network NW includes, for example, the Internet, a WAN (Wide Area Network), a LAN (Local Area Network), a provider device, a wireless base station, and the like.
The terminal device 1a is different from the terminal device 1 described above in that it includes a communication unit 16 and includes a processing unit 11a instead of the processing unit 11.

(Terminal device 1a)
The terminal device 1a is realized as a smartphone, a mobile terminal, or a personal computer, a tablet terminal device, a wristwatch type terminal device, or other information processing device. The terminal device 1a includes, for example, a moving object detection unit 10, a processing unit 11a, a distance sensor unit 12, a calculation unit 13, an estimation unit 14, a storage unit 15, and a communication unit 16.
The processing unit 11a has the following functions in addition to the functions of the processing unit 11 described above. The processing unit 11a maintains the hibernation state until the preset time is reached. The processing unit 11a returns from the hibernation state at a preset time, includes at least a part of the information included in the passerby count information 15a stored in the storage unit 15, and uses the server 2 as the destination. Create passer count notification information. The processing unit 11a outputs the created passer-count count notification information to the communication unit 16.
The processing unit 11a acquires the transfer information output by the communication unit, and reflects the change contents of the setting information included in the acquired transfer information by processing. For example, the processing unit 11a reflects the changed content of the setting information in the setting information 15c stored in the storage unit 15.

The communication unit 16 is realized by a communication module. The communication unit 16 communicates with an external communication device via the network NW. The communication unit 16 may communicate by a communication method such as a wired LAN (Local Area Network). Further, the communication unit 16 may communicate by a communication method such as wireless LAN, Bluetooth (registered trademark) or LTE (registered trademark). The communication unit 16 holds communication information necessary for communicating with the server 2 via the network NW. The communication unit 16 acquires the passerby count notification information output by the processing unit 11a, and transmits the acquired passerby count notification information to the server 2. The communication unit 16 receives the transfer information transmitted by the server 2, and outputs the received transfer information to the processing unit 11a.

(Terminal device 1b)
The terminal device 1b is realized as a smartphone, a mobile terminal, or a personal computer, a tablet terminal device, a wristwatch type terminal device, or other information processing device.
The terminal device 1b includes the terminal device ID and the information for requesting the passerby count information when the user performs an operation of requesting the passerby count information from the terminal device 1b, and uses the server 2 as the destination. Create a passerby count information request. The terminal device 1b transmits the created passerby count information request to the server 2. The terminal device 1b receives the passerby count information response transmitted by the server 2 and acquires the passerby count information included in the received passerby count information response. The terminal device 1b outputs by processing the acquired passerby count information. For example, the terminal device 1b may display the processing result of the passerby count information on a display unit (not shown).

(Server 2)
The server 2 is realized by a device such as a personal computer, a server, a smartphone, a tablet computer, or an industrial computer. The server 2 includes, for example, a processing unit 21, a storage unit 25, a communication unit 27, and an input / output unit 29.
The storage unit 25 is realized by an HDD, a flash memory, a RAM, a ROM, or the like. Passer-related information 25a, terminal information 25b, and setting information 25c are stored in the storage unit 25. Passer-related information 25a, terminal information 25b, and setting information 25c may be stored in the cloud.
The passer-related information 25a is table-type information in which the terminal device ID of the terminal device that has transmitted the measurement result and the measurement date / time information, and the measurement result and the measurement date / time information are associated with each other. The measurement result includes information indicating the number of passersby and information indicating the moving direction.
FIG. 7 is a diagram showing an example of passer-related information. An example of the passer-related information 25a includes the terminal device ID "M0001", the number of passers "***" as the measurement result, the moving direction "***", and the measurement date and time information "*****". / ** / ** / **: ** "is associated with. Further, as an example of the passer-related information 25a, the terminal device ID "M0002", the number of passers "++++" as the measurement result, the movement direction "++++", and the measurement date / time information "++++ /++++++ /" ++: ++ "is associated.

The terminal information 25b is tabular information in which the terminal device ID, the IP address, and the MAC address are associated with each other. FIG. 8 is a diagram showing an example of terminal information. In an example of the terminal information 25b, the terminal device ID "M0001", the IP address "***", and the MAC address "*****" are associated with each other. Further, in an example of the terminal information 25b, the terminal device ID "M0002", the IP address "++++", and the MAC address "++++" are associated with each other. The information stored in the terminal information 25b is registered when the passing number measuring system 100a is used.
The setting information 25c is tabular information in which the terminal device ID, the total time interval, the notification time interval, the distance threshold value, the effective block threshold value, the invalid value threshold value, the block length threshold value, and the effective inclination threshold value are associated with each other. Is.
FIG. 9 is a diagram showing an example of setting information. Examples of the setting information 25c include the terminal device ID "M0001", the total time interval "**: **", the notification time interval "**: **", the distance threshold "**", and the effective block. The threshold value "**", the invalid value threshold value "**", the block length threshold value "**", and the effective slope threshold value "**" are associated with each other. Further, as an example of the setting information 25c, the terminal device ID "M0002", the total time interval "++: ++", the notification time interval "++: ++", the distance threshold value "++", and the effective block threshold value "++" , The invalid value threshold value “++”, the block length threshold value “++”, and the effective slope threshold value “++” are associated with each other.
Here, the setting information 25c may store the total time instead of the total time interval or together with the total time interval, or may store the notification time instead of the notification time interval or together with the notification time interval. Further, the setting information 25c may store time interval information in which the distance sensor unit 12 mounted on the terminal device 1a measures the distance between the moving body and the terminal device 1a, or the storage unit 15 of the terminal device 1a. One or both of the information indicating the retention period of the information retained in the passer-by count information 15a and the number of information may be stored. The information stored in the setting information 25c is registered when the passing number measuring system 100a is used. The explanation will be continued by returning to FIG.

The processing unit 21 and the input / output unit 29 are realized by, for example, a hardware processor such as a CPU executing a program (software) stored in the storage unit 25. Further, a part or all of these functional parts may be realized by hardware (including circuit part; circuitry) such as LSI, ASIC, FPGA, GPU, or by collaboration between software and hardware. It may be realized. The program may be stored in a storage device such as an HDD or a flash memory in advance, or is stored in a removable storage medium such as a DVD or a CD-ROM, and the storage medium is attached to the drive device. It may be installed.
The processing unit 21 controls and manages the overall operation of the server 2. The processing unit 21 acquires the passer-by count notification information output by the communication unit 27, and identifies the terminal device that has transmitted the passer-count count notification information based on the acquired passer-count count notification information. The processing unit 21 refers to one or both of the IP address and the MAC address for communicating with each of the one or a plurality of terminal devices from the terminal information 25b stored in the storage unit 25, and one or a plurality of them. Identify each of the terminal devices in. The processing unit 21 associates the information indicating the specified terminal device with the acquired passer count notification information and stores it in the passer-related information 25a of the storage unit 25.

The processing unit 21 acquires the passer-by count information request output by the communication unit 27, and based on the terminal device ID included in the acquired passer-count count notification information, from the passer-related information 25a stored in the storage unit 25. , The measurement result associated with the terminal device ID and the measurement date / time information are acquired. The processing unit 21 creates a passer count information response to the terminal device that has transmitted the passer count information request, including the acquired measurement result and the measurement date / time information, and creates the passer count information response. Output to the communication unit 27.
When the setting information included in the setting information 25c stored in the storage unit 25 is changed, the processing unit 21 includes information indicating the changed content of the setting information and destinations the terminal device corresponding to the setting information. Create transfer information. The processing unit 21 outputs the created transfer information to the communication unit 27. The processing unit 21 acquires one or both of the IP address for communicating with each of one or a plurality of terminal devices and the MAC address from the terminal information 25b stored in the storage unit 25, and the acquired IP. Communicates with each of one or more terminal devices based on either or both of the address and the MAC address.
The input / output unit 29 changes and / or confirms the setting information of the terminal device 1a.

The communication unit 27 is realized by a communication module. The communication unit 27 communicates with an external communication device via the network NW. The communication unit 27 may communicate by a communication method such as a wired LAN. Further, the communication unit 27 may communicate by a communication method such as wireless LAN, Bluetooth (registered trademark) or LTE (registered trademark). The communication unit 27 can communicate with each of one or a plurality of terminal devices whose information is managed by the server 2. The communication unit 27 receives the passer-by count notification information transmitted by the terminal device 1a, and outputs the received passer-count count notification information to the processing unit 21. The communication unit 27 receives the passer-by count information request transmitted by the terminal device 1b, and outputs the received passer-count count information request to the processing unit 21. The communication unit 27 acquires the passerby count information response output by the processing unit 21, and transmits the acquired passerby count information response to the terminal device 1b. The communication unit 27 acquires the transfer information output by the processing unit 21, and transmits the acquired transfer information to the terminal device 1a.

(Operation of pass count measurement system)
An example of the operation of the passing number measurement system according to the modified example of this embodiment will be described. The above-described FIG. 5 can be applied to the method in which the terminal device 1a acquires the divided record from the effective block and evaluates the acquired divided record. Here, the processing unit 11a of the terminal device 1a associates the time information, the information indicating the count value of the passerby, and the information indicating the moving direction of the passerby with the passerby count information 15a of the storage unit 15. The processing after the storage will be described.
FIG. 10 is a diagram showing an example of the operation of the passing number measuring system according to the modified example of the embodiment.
(Step S201)
In the terminal device 1a, the processing unit 11a returns from the hibernation state at a preset time, and includes at least a part of the information included in the passerby count information 15a stored in the storage unit 15. Create passer count notification information destined for server 2. Here, at least a part of the information included in the passer-by count information 15a is the information included in the passer-by count information 15a that has not been notified to the server 2.
(Step S202)
In the terminal device 1a, the processing unit 11a outputs the created passer-count count notification information to the communication unit 16. The communication unit 16 acquires the passerby count notification information output by the processing unit 11a, and transmits the acquired passerby count notification information to the server 2.
(Step S203)
In the server 2, the communication unit 27 receives the passer-by count notification information transmitted by the terminal device 1a, and outputs the received passer-count count notification information to the processing unit 21. The processing unit 21 acquires the passer-by count notification information output by the communication unit 27, and identifies the terminal device that has transmitted the passer-count count notification information based on the acquired passer-count count notification information. The processing unit 21 associates the information indicating the specified terminal device with the acquired passer count notification information and stores it in the passer-related information 25a of the storage unit 25.

(Step S204)
When the user performs an operation of requesting the passerby count information from the terminal device 1b, the terminal device 1b includes the terminal device ID of the terminal device 1a for which the passerby count information is requested and the passerby count. Create a passerby count information request destined for server 2, including information requesting information.
(Step S205)
The terminal device 1b transmits the created passerby count information request to the server 2.
(Step S206)
In the server 2, the communication unit 27 receives the passer-by count information request transmitted by the terminal device 1b, and outputs the received passer-count count information request to the processing unit 21. The processing unit 21 acquires the passer-by count information request output by the communication unit 27, and acquires the terminal device ID included in the acquired passer-count count information request. The processing unit 21 acquires the measurement result and the measurement date and time information stored in association with the acquired terminal device ID, and includes the terminal device ID, the acquired measurement result, and the measurement date and time information, and includes the terminal device 1b. Create a passerby count information response destined for.
(Step S207)
In the server 2, the processing unit 21 outputs the created passer count information response to the communication unit 27. The communication unit 27 acquires the passerby count information response output by the processing unit 21, and transmits the acquired passerby count information response to the terminal device 1b.
(Step S208)
The terminal device 1b receives the passer-by count information response transmitted by the server 2, acquires the received passer-count count information response, and includes the terminal device ID included in the acquired passer-count count information response, the measurement result, and the measurement. Get date and time information. The terminal device 1b outputs by processing the acquired terminal device ID, the measurement result, and the measurement date / time information.

In the modified example of the above-described embodiment, the case where one terminal device 1a is included in the passing number measuring system 100a has been described, but the present invention is not limited to this example. For example, there may be a plurality of terminal devices 1a. With this configuration, the server 2 can store the passer-by count information in the passer-related information 25a based on the passer-count count notification information transmitted by each of the plurality of terminal devices 1a. The terminal device 1b can acquire the passerby count information notified by any one of the plurality of terminal devices 1a by transmitting the passerby count information request.
In the modification of the above-described embodiment, the passerby count information request includes the terminal device ID, and the server 2 creates a passerby count information response including the passerby count information corresponding to the terminal device ID. Although explained, it is not limited to this example. For example, the passerby count information request may include measurement date / time information in addition to the terminal device ID. In this case, the server 2 creates a passerby count information response including the passerby count information corresponding to the combination of the terminal device ID and the measurement date / time information. Further, instead of the measurement date / time information, a range of measurement date / time may be included. In this case, the server 2 creates a passerby count information response including the passerby count information corresponding to the combination of the terminal device ID and the range of the measurement date and time.
In the modification of the above-described embodiment, the terminal device 1a may delete the information notified to the server 2 from the information included in the passerby count information 15a. With this configuration, the storage capacity of the terminal device 1a can be secured.
According to the pass number measurement system 100a according to the modified example of the present embodiment, in addition to the effect of the pass number measurement system 100 according to the above-described embodiment, the measurement result is transmitted to the server by using the communication function of the terminal device 1a. It can be transmitted to an external DB such as 2. Therefore, the user U of the terminal device 1b can confirm the measurement result by acquiring the measurement result from the server 2 via the network NW.

(Application example)
An application example of the passing number measuring system 100a according to the modified example of the embodiment will be described.
FIG. 11 is a diagram for explaining an application example of the passing number measurement system according to the modified example of the embodiment.
The terminal device 1a is installed in an outdoor environment such as a mountain trail where the road width is limited. The terminal device 1a estimates the number of objects 4 such as objects passing through the measurement range MR, which is the range in which the distance sensor unit 12 can measure the distance, and the moving direction of the objects 4. An example of the object 4 is a passerby. The terminal device 1a reflects the estimation result of the number of the objects 4 and the moving direction of the objects 4 in the passer-by count information 15a stored in the storage unit 15.
As shown in FIG. 11, the terminal device 1a is installed by being tied to an existing pile or a support of a guide plate on the side of the road R. An example of the terminal device 1a is a portable size that can be carried. The terminal device 1a is installed at an angle with respect to the horizontal plane including the road R. For example, the terminal device 1a may be installed so that the measurement range MR of the distance sensor unit 12 of the terminal device 1a includes both ends of the road R.
The terminal device 1a measures the distance to the object 4 in time series, executes the passer grouping algorithm and the block extraction algorithm, and obtains the number of passers and the movement of passers from the measurement results. Estimate the direction.

This will be described in detail. The processing unit 11a of the terminal device 1a acquires the distance value output by the distance sensor unit 12, and outputs the acquired distance value to the calculation unit 13.
FIG. 12 is a diagram showing an example 1 of a distance value acquired by the terminal device according to the modified example of the embodiment. FIG. 12 shows an example of the relationship between the elapsed time [s] and the distance value [m]. Here, the elapsed time is the elapsed time from the start of the measurement. FIG. 12 shows, as an example, the measurement result of the distance value when the object 4 moves in the direction away from the terminal device 1a. According to FIG. 12, in the terminal device 1a, the distance sensor unit 12 acquires the distance value about 3 seconds after the distance sensor unit 12 starts measuring the distance after the moving object detecting unit 10 detects the moving object. You can see that it is doing. It can be seen that the distance value between 3 seconds and 3.2 seconds is an invalid value.
Further, according to FIG. 12, it can be seen that the length of the effective block is about 3 seconds. If the block length threshold is set to 5 seconds, the estimation unit 14 determines that the block is an effective block obtained by passing by one person.

FIG. 13 is a diagram showing Example 1 of processing of the terminal device according to the modified example of the embodiment. The calculation unit 13 of the terminal device 1a uses a block extraction algorithm to extract a data group of measurement results including a distance value determined to be a distance value to a passerby, and from the extracted data group of measurement results, The distance value including an error such as the influence of noise by the distance sensor unit 12 is removed. FIG. 13 shows the result of removing the distance value including an error such as the influence of noise by the distance sensor unit 12 from the measurement result. In FIG. 13, the vertical axis represents the difference value between records in an adjacent order, and the horizontal axis represents the elapsed time from the start of measurement. The solid line including the black broken line portion indicates the difference value of the measured values shown in FIG. When the average value of the distance values is m, the standard deviation is σ, and the coefficient indicating the 90% confidence interval is X, the three solid lines parallel to the horizontal axis are m + Xσ, m, in order from the top. It shows m-Xσ. The difference value obtained by removing the difference value less than m-Xσ and the difference value larger than m + Xσ is shown by a solid line.
FIG. 14 is a diagram showing Example 2 of processing of the terminal device according to the modified example of the embodiment. In FIG. 14, the vertical axis is the distance value [m], and the horizontal axis is the elapsed time [s]. FIG. 14 is obtained by removing the measured value corresponding to the difference value less than m−Xσ and the measured value corresponding to the difference value larger than m + Xσ in FIG. That is, FIG. 14 shows the result of blocking the time-series distance value obtained by removing the distance value including the influence of noise.
The estimation unit 14 derives the slope of the time-series distance value based on the result of blocking the time-series distance value. For example, the estimation unit 14 derives the slope of the distance value in time series by an approximation method such as the least squares method. In the case of FIG. 14, the slope value is 1.104. Assuming that the first effective inclination threshold value is 0.2, the estimation unit 14 estimates that one passerby has moved away from the terminal device 1a.

FIG. 15 is a diagram showing Example 2 of the distance value acquired by the terminal device according to the modified example of the embodiment. FIG. 15 shows an example of the relationship between the elapsed time [s] and the distance value [m]. Here, the elapsed time is the elapsed time from the start of the measurement. FIG. 15 shows, as an example, an example of measurement results acquired when a plurality of objects pass through the measurement range MR of the distance sensor unit 12 of the terminal device 1a in the same direction. Here, as an example, an example of the measurement result obtained when the object 4a and the object 4b pass in the direction away from the terminal device 1a is shown.
According to FIG. 15, in the terminal device 1a, the distance sensor unit 12 starts measuring the distance about 4.5 seconds after the moving object detecting unit 10 detects the moving object and the distance sensor unit 12 starts measuring the distance. You can see that you are getting. It can be seen that the distance value between 4.5 seconds and 4.8 seconds is an invalid value. Further, according to FIG. 15, it can be seen that the length of the effective block is about 5 seconds. If the block length threshold is set to 5 seconds, the estimation unit 14 determines that the block is an effective block obtained by passing by a plurality of people.
FIG. 16 is a diagram showing Example 3 of processing of the terminal device according to the modified example of the embodiment. The estimation unit 14 divides a plurality of record groups included in the effective block for each number of divided records specified in advance. The estimation unit 14 acquires a plurality of divided records by duplicating the number of duplicate records specified in advance and dividing the record group for each number of divided records.
As shown in FIG. 16, the estimation unit 14 acquires the sixth division record from the first division record. The estimation unit 14 removes the distance value including the influence of noise from the record group which is a plurality of measured values included in each of the plurality of divided records. FIG. 16 shows the result of removing the distance value including the influence of noise from the record group included in each of the plurality of divided records. In FIG. 16, the vertical axis represents the difference value between records in an adjacent order, and the horizontal axis represents the elapsed time from the start of measurement. The solid line including the black broken line portion indicates the difference value of the measured values shown in FIG. In each of the 1st to 6th division records, when the average value of the distance values is m, the standard deviation is σ, and the coefficient indicating the 90% confidence interval is X, the three are parallel to the horizontal axis. The solid lines in the book show m + Xσ, m, and m-Xσ in order from the top. The difference value obtained by removing the difference value less than m-Xσ and the difference value larger than m + Xσ is shown by a solid line.

FIG. 17 is a diagram showing Example 4 of processing of the terminal device according to the modified example of the embodiment. In FIG. 17, the vertical axis is the distance value [m] and the horizontal axis is the elapsed time [s]. FIG. 17 shows the measured values in which the difference value is less than m−Xσ and the measured values in which the difference value corresponds to m + Xσ are removed in FIG. That is, FIG. 17 shows the result of blocking the time-series distance value obtained by removing the distance value including the influence of noise.
The estimation unit 14 derives the slope of the time-series distance value based on the result of blocking the time-series distance value. For example, the estimation unit 14 derives the slope of the distance value in time series by an approximation method such as the least squares method. The estimation unit 14 derives the slope of the time-series distance value included in each of the first division record and the sixth division record. As a result, as shown in FIG. 17, the slope of the time-series distance value included in the first division record is 0.8793, and the slope of the time-series distance value included in the second division record is , -0.3409, and the slope of the time-series distance value included in the third division record is 0.8011. Further, as shown in FIG. 17, the inclination of the time-series distance value included in the fourth division record is 1.0656, and the inclination of the time-series distance value included in the fifth division record is 1. It is 1.264, and the slope of the time-series distance value included in the sixth division record is 1.1825.
FIG. 18 is a diagram showing an example 5 of processing of a terminal device according to a modified example of the embodiment. FIG. 18 shows the result of evaluating the slope of the time-series distance value included in each of the first division record to the sixth division record based on the evaluation rule described above.
In the estimation unit 14, since the sign of the slope of the second division record is different from the sign of the slope of the first division record, a passer different from that of the first division record appears in the second division record. By doing so, it is determined that the product has been obtained. Therefore, the estimation unit 14 deletes the second division record.
In the estimation unit 14, the sign of the slope of each of the first division record, the third division record, the fourth division record, the fifth division record, and the sixth division record other than the deleted second division record is the same. Therefore, it is estimated that the two passersby have moved away from the terminal device 1a.

FIG. 19 is a diagram showing an example 3 of a distance value acquired by the terminal device according to the modified example of the embodiment. FIG. 19 shows an example of the relationship between the elapsed time [s] and the distance value [m]. Here, the elapsed time is the elapsed time from the start of the measurement. As an example, FIG. 19 shows an example of measurement results acquired when a plurality of objects pass through the measurement range MR of the distance sensor unit 12 of the terminal device 1a in different directions. Here, as an example, an example of the measurement result obtained when the object 4a and the object 4b move so as to intersect (pass) within the measurement range MR of the distance sensor unit 12 of the terminal device 1a is shown. ..
According to FIG. 19, in the terminal device 1a, the distance sensor unit 12 starts measuring the distance about 5.5 seconds after the moving object detecting unit 10 detects the moving object and then the distance sensor unit 12 starts measuring the distance. You can see that you are getting. It can be seen that the distance value between 5.5 seconds and 5.8 seconds is an invalid value. Further, according to FIG. 19, it can be seen that the length of the effective block is about 5 seconds. If the block length threshold is set to 5 seconds, the estimation unit 14 determines that the block is an effective block obtained by passing by a plurality of people.
The estimation unit 14 divides a plurality of record groups included in the effective block for each number of divided records specified in advance. The estimation unit 14 acquires a plurality of divided records by duplicating the number of duplicate records specified in advance and dividing the record group for each number of divided records. The estimation unit 14 acquires the 7th division record from the 1st division record. The estimation unit 14 removes the distance value including the influence of noise from the record group which is a plurality of measured values included in each of the plurality of divided records. When the average value of the distance values is m, the standard deviation is σ, and the coefficient indicating the 90% confidence interval is X, each of the first to seventh division blocks is parallel to the horizontal axis. The solid lines in the book show m + Xσ, m, and m-Xσ in order from the top. Differences less than m-Xσ and differences greater than m + Xσ are removed.

FIG. 20 is a diagram showing an example 6 of processing of a terminal device according to a modified example of the embodiment. In FIG. 20, the vertical axis is the distance value [m], and the horizontal axis is the elapsed time [s]. FIG. 20 shows the measured values in which the difference value is less than m−Xσ and the measured values in which the difference value corresponds to m + Xσ are removed in FIG. That is, FIG. 20 shows the result of blocking the time-series distance value obtained by removing the distance value including the influence of noise.
The estimation unit 14 derives the slope of the time-series distance value based on the result of blocking the time-series distance value. For example, the estimation unit 14 derives the slope of the distance value in time series by an approximation method such as the least squares method. The estimation unit 14 derives the slope of the time-series distance value included in each of the first division record and the seventh division record. As a result, as shown in FIG. 20, the slope of the time-series distance value included in the first division record is 0.6597, and the slope of the time-series distance value included in the second division record is , 1.0277, and the slope of the time-series distance value included in the third division record is 0.9944. Further, as shown in FIG. 20, the slope of the time-series distance value included in the fourth division record is −1.1277, and the slope of the time-series distance value included in the fifth division record is , -0.9861, and the slope of the time-series distance value included in the 6th division record is -0.7876, and the slope of the time-series distance value included in the 7th division record is-. It is 0.7876.

FIG. 21 is a diagram showing an example 7 of processing of a terminal device according to a modified example of the embodiment. FIG. 21 shows the result of evaluating the slope of the time-series distance value included in each of the first division record to the seventh division record based on the evaluation rule described above.
In the estimation unit 14, since the sign of the slope of the 4th division record is different from the sign of the slope of the 3rd division record, a passer different from that of the 3rd division record appears in the 4th division record. By doing so, it is determined that the product has been obtained. Therefore, the estimation unit 14 deletes the fourth division record.
Consider a record other than the fourth divided record deleted by the estimation unit 14. The sign of each slope of the first division record to the third division record is the same, and the sign of each of the fifth division record to the seventh division record is the same. Further, the sign of the first division record to the third division record and the sign of the fifth division record to the seventh division record are different. In this case, the estimation unit 14 estimates that one passerby moves away from the terminal device 1a and one passerby moves closer to the terminal device 1a, for a total of two people to pass.
In the modified example of the embodiment, a case where the terminal device 1a detects one or two people as passersby has been described as an example, but the present invention is not limited to this example. It is also applicable when there are three or more passers-by.
Here, as an application example, the case where the passing number measuring system 100a is applied to an outdoor environment where the road width is limited, such as a mountain trail, has been described, but this is not the case. For example, it can be applied to the case where the passing number measuring system 100 is applied to an outdoor environment such as a mountain trail where the road width is limited.

Although the embodiments of the present invention have been described in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and design changes and the like within a range not deviating from the gist of the present invention are also included.
For example, a computer program for realizing the functions of the above-described devices may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be read by the computer system and executed. The "computer system" referred to here may include hardware such as an OS and peripheral devices.
The "computer-readable recording medium" is a writable non-volatile memory such as a flexible disk, a magneto-optical disk, a ROM, or a flash memory, a portable medium such as a DVD (Digital Versatile Disc), or a built-in computer system. A storage device such as a hard disk.
Furthermore, the "computer-readable recording medium" is a volatile memory inside a computer system that serves as a server or client when a program is transmitted via a network such as the Internet or a communication line such as a telephone line (for example, DRAM (Dynamic)). It also includes those that hold the program for a certain period of time, such as Random Access Memory)).
Further, the program may be transmitted from a computer system in which this program is stored in a storage device or the like to another computer system via a transmission medium or by a transmission wave in the transmission medium. Here, the "transmission medium" for transmitting a program refers to a medium having a function of transmitting information, such as a network (communication network) such as the Internet or a communication line (communication line) such as a telephone line.
Further, the above program may be for realizing a part of the above-mentioned functions.
Further, a so-called difference file (difference program) may be used, which can realize the above-mentioned functions in combination with a program already recorded in the computer system.

1, 1a, 1b ... Terminal device, 2 ... Server, 10 ... Moving object detection unit, 11, 11a ... Processing unit, 12 ... Distance sensor unit, 13 ... Calculation unit, 14 ... Estimating unit, 15 ... Storage unit, 15a ... Passing Person count information, 15c ... setting information, 16 ... communication unit, 21 ... processing unit, 25 ... storage unit, 25a ... passer-related information, 25b ... terminal information, 25c ... setting information, 27 ... communication unit, 29 ... input / output Part, 100, 100a ... Passing number measurement system

Claims (8)

A distance sensor that measures the distance and
One or a plurality of blocks containing a plurality of measurement results are extracted from the measurement result group including the plurality of measurement results obtained by the measurement by the distance sensor unit based on the measurement time, and the extracted one or a plurality of blocks are extracted. An arithmetic unit that approximates multiple measurement results included in each of
Based on the approximation result of the plurality of measurement results included in each of the one or the plurality of blocks by the calculation unit, one or both of the number of moving objects measured by the distance sensor unit and the moving direction is derived. A terminal device including an estimation unit. The calculation unit removes the measurement result including the error from the plurality of measurement results, and from the remaining measurement result group from which the measurement result including the error is removed, the block including the plurality of measurement results based on the measurement time. The terminal device according to claim 1, wherein one or more of the above are extracted. The terminal device according to claim 1 or 2, wherein the calculation unit determines whether or not the number of moving objects is a plurality based on the length of each of the one or a plurality of the blocks. The calculation unit derives an approximate expression based on the time series of the plurality of measurement results included in each of the one or the plurality of blocks.
The estimation unit derives one or both of the number of moving objects and the moving direction of the moving objects based on the slope of the approximate expression derived by the arithmetic unit, according to claims 1 to 3. The terminal device according to any one item. The calculation unit derives the difference between two consecutive measurement results based on the time series of the plurality of measurement results included in each of the one or the plurality of blocks, and statistics are obtained from the derived differences. A value is derived, and one of the plurality of measurement results is deleted based on the difference and the statistical value.
The fourth aspect of the present invention, wherein an approximate expression is derived based on the time series of the plurality of the measurement results contained in each of the plurality of the blocks obtained by deleting any one of the plurality of the measurement results. Terminal device. A distance sensor that measures the distance and
One or a plurality of blocks containing a plurality of measurement results are extracted from the measurement result group including the plurality of measurement results obtained by the measurement by the distance sensor unit based on the measurement time, and the extracted one or a plurality of blocks are extracted. An arithmetic unit that approximates multiple measurement results included in each of
Based on the approximation result of the plurality of measurement results included in each of the one or the plurality of blocks by the calculation unit, one or both of the number of moving objects measured by the distance sensor unit and the moving direction is derived. A system with an estimation unit. It is a measurement method executed by a terminal device provided with a distance sensor unit for measuring a distance.
One or a plurality of blocks containing a plurality of measurement results are extracted from the measurement result group including the plurality of measurement results obtained by the measurement by the distance sensor unit based on the measurement time, and the extracted one or a plurality of blocks are extracted. Steps to approximate multiple measurement results contained in each of
Based on the approximation result of a plurality of measurement results included in each of the one or a plurality of the blocks by the approximating step, one or both of the number of moving objects measured by the distance sensor unit and the moving direction is derived. A method of measuring the number of passages having steps to be performed. On the computer
From the measurement result group including a plurality of measurement results obtained by the distance sensor unit, one or a plurality of blocks containing a plurality of measurement results are extracted based on the measurement time, and the extracted one or a plurality of blocks of the extracted one or a plurality of blocks. Steps to approximate multiple measurement results contained in each,
Based on the approximation result of a plurality of measurement results included in each of the one or a plurality of the blocks by the approximating step, one or both of the number of moving objects measured by the distance sensor unit and the moving direction is derived. A computer program that lets you perform steps and steps.

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